I cannot have the speed example work

[Alexbox364]

Hi, I'm trying to implement the RS485 communication with the AASD-15A driver series. I'm using a 60st-01932 servo but communication with the driver remain the same. First thank for sharing your first work which helped me a lot to have my servo move :-).

I managed to have the position control work (make the motor move but not the expected amount of rotation) but not the speed control to work.

Did you have both examples working on your side? And did you ever tried the torque mode ?

On my side the internal speed command is well written via Modbus to the servo (I checked it manually with Pn169 been actually modified via Modbus) but no movement from the servo occurs.

[looninho]

Hi @Alexbox364,

First I'm glad that position mode works for you. Did you set the motor code (Pn001) to 2 for your 60st-01932? and the Rated speed (Pn020) to 3000 r/min?

The speed mode is very easy but sorry I did't implement it yet in main branch. I've just implemented it now in dev branch, it's more recent than main branch. Try it and let me know.

I didn't try the torque mode yet but it will work in the same way, juste set Pn002 to 0: mycontroller.set_control_mode(motor_idx,0)

[Alexbox364]

Hi, thanks for the feedback, I'll check the Pn020 setting, I did not checked it assuming the manufacturer did provide the driver with something else than 0...
Pn001 is well set to 2.

I intend to build a traction loss system for my simracing rig using simhub. Did you manage to build your 6 DOF system based on your RS485 communication library ?

[looninho]

Hi, I'd like to build my 6DOF with RS485 to replace the hardware driven interface and save money but I'm working yet to adapt Dirty's actuatoe design.
I don't know simhub but it's a good stuff for my simulator, thank you

[Alexbox364]

Hi, same for me here :-). And I think sad to use analog interface when you have a digital one available.
What is a « dirty » actuator?
I finally managed to have the speed control to work but not the position nor the torque mode. The AASD driver is tricky to master!

[looninho]

here is Dirty's design: https://www.xsimulator.net/community/threads/dirtys-2nd-6dof-aasd-m4s-controller-sfs1620.17639/

In the position mode, you have to switch the trigger bit from low to high to start the movment. This is done in my set_PM_move() but if you want to test step by step without using my pyaasd lib, you can take a look in the test/test_position.py file.